KR101912343B1 - The walking rehabilitation apparatus for severe disability including a wearable sensor - Google Patents

Abstract

A gait rehabilitation device for a severely disabled person including a wearable sensor includes a patient automatic transfer unit for moving the patient to a predetermined rehabilitation position with the trunk of the patient lifted up; A trunk exercise unit configured to be able to perform walking rehabilitation training while the patient is stepping on a foot on the rehabilitation position according to the selected gait pattern; Dimensional position information transmitted from the at least one wearable orientation bearing sensor worn by the patient or the portable terminal held by the patient in real time based on the three-dimensional position information transmitted in real time according to the selected gait pattern, And a control device for realizing the recognition and the posture in real time and reflecting it in the walking rehabilitation training.

Description

[0001] The present invention relates to a walking rehabilitation apparatus for severe handicap,

The present invention relates to a gait rehabilitation apparatus, and more particularly, to a gait rehabilitation system for a severely disabled person including a wearable sensor.

Generally, walking refers to moving the body while alternately moving the left and right legs forward through the continuous motion of the lower extremity joints and muscles of the person. Since many joints or pelvis are used simultaneously, these organs, tissues or nerves are damaged , It often causes walking disorders.

In particular, about 90% of patients with gait disorder are caused by acquired disorders, and patients with hemiplegia due to spinal diseases, arthritis, stroke, cerebral palsy, and accidents are unlikely to have independent gait, If the patient can not walk on his / her own hand, the pushing syndrome that is unique to the hemiplegic patient has a problem that the pelvic girdle is raised and the legs are bent in the hip joint.

Korean Patent Registration No. 10-1327178 for solving these problems relates to a two-belt treadmill and a gait rehabilitation training apparatus having the same, more particularly, to a treadmill body, a first drive A left conveyor belt and a right conveyor belt which are rotatably mounted on the treadmill body and are respectively rotated by a first drive motor and a second drive motor, and a left conveyor belt and a right conveyor provided on the treadmill body, A two-belt treadmill including a belt loosening preventing portion for preventing peeling of the belt; an angle sensor for detecting an angular velocity of the lower limb and an electromyographic signal of the lower limb, Part, two-belt treadmill, and the pedestrian A traction unit provided at an upper portion of the support frame for traversing the human body of the pedestrian in a vertical direction so as to prevent the pedestrian from falling over, a walker unit, a first drive motor and a second drive And a central control unit for controlling the motor. The present invention relates to a two-belt treadmill and a gait rehabilitation training apparatus having the same.

However, since the conventional technique as described above is formed to move the patient's foot by driving the conveyor belt, the patient has to move the legs directly, which makes it difficult to perform the rehabilitation training. And there was a problem that the training time was short.

In addition, since the conventional technique is configured to move the patient's foot by driving the conveyor belt, there is a problem that the patient must directly walk through the legs and the patient must directly walk into the device to perform the rehabilitation training.

KR 10-1327178 B

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned technical problems, and it is an object of the present invention to provide a method and apparatus for moving a patient from a wearable posture sensor worn by a patient to a real- The present invention provides a gait rehabilitation device for a severely handicapped person who is capable of realizing the behavior and attitude of the patient based on the three-dimensional position information transmitted in real time and reflecting it in the gait rehabilitation training.

According to an embodiment of the present invention, a patient automatic transfer unit for moving the patient to a preset rehabilitation position in a state in which a trunk of a patient is lifted; A trunk exercise unit configured to be able to perform walking rehabilitation training while the patient is stepping on a foot on the rehabilitation position according to the selected gait pattern; Dimensional position information transmitted from the at least one wearable orientation bearing sensor worn by the patient or the portable terminal held by the patient in real time based on the three-dimensional position information transmitted in real time according to the selected gait pattern, The walking and rehabilitation device for a severely disabled person is provided, which includes a control device for realizing the recognition and attitude in real time and reflecting it in the walking rehabilitation training.

The apparatus further includes an output device for providing a three-dimensional spatial image to the patient using any one of a virtual reality method and an augmented reality method when the patient performs the walking rehabilitation training using the trunk motion part .

In addition, when the virtual obstacle appears on the 3D spatial image through the augmented reality method, the controller displays the three-dimensional position information transmitted from the at least one wearable orientation sensor on the three- The operation of the trunk movement part is controlled while recognizing the action of the trunk movement part.

In addition, the control device stores data on the walking rehabilitation training of each patient, and provides information that each patient can set a training target value by referring to his / her past walking rehabilitation training data.

The apparatus further includes a knee guide equipped with a knee position sensor for sensing movement of the knee and restricting a movement angle of the knee by being worn on the knee of the patient, And the motion of the trunk movement part is controlled in consideration of the movement angle of the knee transmitted from the trunk movement part.

In the gait rehabilitation apparatus for severely disabled persons including the wearable sensor according to the embodiment of the present invention,

It is possible to move the patient to the predetermined rehabilitation position with the trunk of the patient lifted and to detect the behavior and attitude of the patient on the basis of the three-dimensional position information transmitted in real time from at least one wearable orientation bearing sensor worn by the patient And can be reflected in walking rehabilitation training in real time.

Therefore, it is possible to perform training to avoid a virtual obstacle in a three-dimensional spatial image, and to control the motion of the trunk motion part by sensing the posture of the patient when avoiding a virtual obstacle.

1 is a conceptual diagram of a rehabilitation system according to an embodiment of the present invention;
FIG. 2 is a block diagram showing a control-related configuration of a rehabilitation system according to an embodiment of the present invention.
FIG. 3 is a block diagram of the rehabilitation execution system of the rehabilitation system of FIG.
Fig. 4 is a perspective view showing the entire configuration of the gait rehabilitation apparatus 1 for severely disabled persons in the rehabilitation execution system of Fig. 3
5 is a view showing a screen for selecting a gait pattern through a menu displayed on the control device 120. Fig.
6 to 6B are diagrams showing a three-dimensional spatial image provided by the output device 130 in the gait rehabilitation training process
7 is a perspective view showing the trunk movement part 200 of the gait /
8 is an exploded view showing the detailed structure of the trunk movement part 200 of the gait rehabilitation device 1 for the severely disabled person
9 is a side view showing a movement path in which the trunk movement part 200 of the gait-and-rehabilitation device 1 for severely disabled persons moves
10 is a view showing a state in which the trunk movement part 200 of the walking and rehabilitation device 1 for severely disabled persons is rotating
11 is a perspective view showing a movement path in which the trunk movement part 200 of the gait-and-rehabilitation device 1 for a severely disabled person pivots and moves
12 is a view showing another embodiment of the trunk movement part 200 of the gait-and-rehabilitation apparatus 1 for severely disabled persons
Fig. 13 is a perspective view showing the transfer unit 300 of the gait /
Fig. 14 is a perspective view showing the support portion 400 of the gait-and-rehabilitation apparatus 1 for severely disabled persons.
15 is a perspective view showing the safety guard 500 of the gait-and-rehabilitation apparatus 1 for severely disabled persons

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, in order to facilitate a person skilled in the art to easily carry out the technical idea of the present invention.

FIG. 1 is a conceptual diagram of a rehabilitation system according to an embodiment of the present invention, FIG. 2 is a configuration diagram related to control of a rehabilitation system according to an embodiment of the present invention, FIG. 3 is a diagram of a rehabilitation execution system to be.

1 to 3, a rehabilitation system according to the present invention includes:

The system is designed to allow the legs of the handicapped or severely handicapped person to walk in a state of lifting the trunk according to the pattern stored in the system program and to manage the rehabilitation process. By avoiding the abnormal exercise pattern of the patient and allowing the repetitive learning and training of the normal exercise pattern according to the characteristics of the patient, it is constructed to overcome the fear by itself and to induce the interest and the sense of accomplishment.

Walking training should be preceded by rehabilitation for people with spinal cord injuries who suffer from hip discs, patients with arthritis who are uncomfortable due to leg arthritis, hemiplegia due to accidents, leprosy patients, stroke patients, and cerebral palsy patients. As a curative therapy, we propose a system that supports and manages this scientifically and rationally.

Fig. 4 is a perspective view showing an overall configuration of the gait rehabilitation apparatus 1 for severely disabled persons in the rehabilitation execution system of Fig. 3; Fig.

The gait rehabilitation apparatus 1 for the severely disabled person according to the present embodiment includes only a simple structure for clearly explaining the technical idea to be proposed.

4, the gait rehabilitation apparatus 1 for severely disabled persons includes a frame 100, a trunk motion part 200, a transfer part 300, a support part 400, a safety protection part 500, a control device 120, And an apparatus 130.

In the present embodiment, the transfer part 300, the support part 400, and the safety protection part 500 will be collectively referred to as a patient automatic transfer part 10 and will be described. That is, the patient automatic transfer unit 10 includes a transfer unit 300, a support unit 400, and a safety guard 500.

The detailed configuration and main operation of the gait rehabilitation apparatus 1 for severely disabled persons having the above configuration will be described below.

The patient automatic transferring unit 10 including the transferring unit 300, the supporting unit 400, and the safety protection unit 500,

So that the patient can be automatically moved to a predetermined rehabilitation position with the patient's trunk raised. Body Core refers to the torso (the body of the body), with the arms and legs branching around the trunk.

The trunk movement part 200 is constructed so that the patient can walk on the foot plate 210 in the rehabilitation position according to the selected gait pattern to perform walking rehabilitation.

The trunk movement part 200 automatically moves the angle of the footrest 210 in the up, down, left, and right directions according to the gait pattern, and is configured to individually adjust the angle of the footrest 210 according to the physical restricting condition of each patient.

In addition, the handicapped person has a habit of walking twisted, especially when the angle of the ankle is not as flexible as normal. Accordingly, the angle of the foot plate 210 can be automatically moved in the up, down, left, and right directions so as to adjust the position of the ankle considering the physical limitations of each patient. When the patient's walking rehabilitation training data is stored in the controller 120, the initial angle and the moving angle of the footrest 210 are automatically adjusted for each patient based on the existing walking rehabilitation training data.

The control device 120 controls the operation of the trunk movement part 200 according to the gait pattern selected by the patient, the caregiver, and the therapist.

The walking pattern includes at least one of a flat walking, a stair climb, a stair climb, a ramp climb, and a ramp descending. The walking height, the walking width, and the walking speed of each walking pattern are configured to be adjustable.

The output device 130 provides a three-dimensional spatial image to the patient using any one of the virtual reality method and the augmented reality method when the patient performs the walking rehabilitation training using the intertwine exercise part 200. [

The process of using the patient's, guardian's, and therapist's gait rehabilitation device (1) for the severely disabled is described as follows.

First, when a seriously handicapped person (patient) enters a wheelchair,

The automatic transfer unit 300 lifts the patient's trunk and moves the patient to a preset rehabilitation position.

The walking rehabilitation training is prepared by selecting one of the walking patterns, the stair climbing, the stair climbing, the ramp climbing, and the ramping down, and selecting the walking heights, walking widths and walking speeds of the respective walking patterns.

The control device 120 stores data of the patient's rehabilitation training in a state of being stored in a database, and the control device 120 refers to the past gait rehabilitation training data of each patient to set the training target value Information can be provided.

That is, the patient can be configured to select the past data, and to adjust the training target value with reference to the past data. Historical data record the patient's usual habits so that the level of training can be adjusted by taking into account the historical records.

At this time, the output device 130 can provide a three-dimensional space span to the patient using any one of a virtual reality method and an augmented reality method.

By providing a three-dimensional spatial image to the patient during walking rehabilitation training, the patient can be given a psychological sense of security by using the usual familiar path as a virtual space. Here, the virtual space may include spatial information such as the patient's residence, the patient's home, the patient's preferred area, and the inside of the patient's home.

On the other hand, when the photographing apparatus 110 includes both the visible ray region photographing lens, the infrared region photographing lens, and the radar sensor so as to be able to identify both the image and the three-

It may be possible to determine whether the patient in the current rehabilitation position coincides with the patient selected by the control device 120 based on the characteristics of the image object recognition and the three-dimensional movement of the patient.

5 is a view showing a screen for selecting a gait pattern through a menu displayed on the control device 120. As shown in Fig.

Referring to Fig. 5, the gait-and-rehabilitation device 1 for a severely disabled person comprises:

The patient, the caregiver, and the therapist use the control device 120 to select at least one of the walking patterns, the stair climbing, the stair climbing, the ramp climbing, and the ramping down, .

The control device 120 includes a touch screen and a push button so that the user can easily select a gait pattern.

At this time, as shown in FIG. 5, the walking height, the walking width, and the walking speed of each walking pattern can be adjusted.

The control device 120 stores data of the patient's rehabilitation training in a state of being stored in a database, and each patient refers to his past gait rehabilitation training data and provides information that can set the training target value .

That is, the patient can be configured to select the past data, and to adjust the training target value with reference to the past data. Historical data record the patient's usual habits so that the level of training can be adjusted by taking into account the historical records.

The control device 120 receives the sensing data transmitted from a pressure sensor (not shown) formed on the foot plate 210 to measure the pressure applied to the foot plate 210, and analyzes the pressure generated when the patient is walking And then displayed on the screen of the control device 120. [

A plurality of pressure sensors (not shown) are disposed inside the footrest 210, and the distribution of the load applied to the footrest 210 when the patient is walking can be measured through the pressure sensor.

The controller 120 controls the first rotating device 220 and the second rotating device 230 so that the load is not concentrated on a specific portion by using the load distribution generated when the patient steps on the foot plate 210. [ The foot plate 210 is rotated to adjust the position of the ankle so that a uniform load can be received.

In addition, when the footrest 210 moves along the guide groove 251 according to the patient's condition, the footrest 210 can be maintained in a horizontal state, thereby controlling the patient's ankle so as not to be burdened.

The pressure state of the sole displayed on the screen of the control device 120 may be displayed in a state of RED, GREEN, or BLUE corresponding to each position of the sole, It is graphically displayed so that the patient, the caregiver, and the therapist can easily observe the current state of the sole pressure.

On the other hand, when the patient wears at least one wearable posture orientation sensor (not shown) on each part of the arm and leg or holds the portable terminal in the pocket,

The control device 120 is configured to exchange data with the wearable orientation sensor and the portable terminal in a wireless communication manner.

The control device 120 controls the operation of the trunk movement part 200 according to the selected walking pattern, and detects the behavior and posture of the patient based on the three-dimensional position information transmitted from the wearable orientation sensor and the portable terminal in real time And can be linked to walking rehabilitation training.

For reference, the orientation sensor is a sensor capable of sensing movements in a three-dimensional space, and may be referred to as a 9-axis sensor. The 9 axis is referred to as a 9 axis sensor since the values of 9 axes are measured in three axes of acceleration, three axes of inertia and three axes of geomagnetism.

Accordingly, when the wearable posture direction sensor is worn on the arms, thighs, pelvis, and legs, the three-dimensional movement of each part is sensed and transmitted to the control device 120. The control device 120 The patient's perception of behavior and posture can be realized in real time.

6 to 6B are views showing a three-dimensional spatial image provided by the output device 130 in the gait rehabilitation training process.

6 to 6B, when the patient performs the walking rehabilitation training using the trunk exercise part 200, the output device 130 instructs the patient to use the virtual reality method and the augmented reality method, Dimensional spatial image.

That is, by providing a three-dimensional spatial image to the patient when performing the gait rehabilitation training, the psychological stability can be given to the patient by using the usual familiar path as a virtual space. Here, the virtual space may include spatial information such as the surroundings of the patient, the preferred area of the patient, the inside of the patient's home, and the like.

Therefore, in the condition that the feeling of rejection is relaxed psychologically, the severely handicapped person, that is, the patient can be engaged in gait rehabilitation training, and the training result is good.

As shown in FIGS. 6 to 6B, the patient can perform the walking rehabilitation training in a realistic feel while viewing the three-dimensional spatial image. At this time, the patient can proceed to the program selection, the user program selection, and the road obstacle selection to set the virtual space desired by the patient.

For reference, the patient may be configured to upload images captured by the portable terminal to the control device 120 in a wireless communication manner.

At this time, the control device 120 can convert the uploaded image into a three-dimensional spatial image and display it. Thus, it is possible to conveniently reflect the familiar space that the patient wants to train.

At this time, the road gradient can be displayed on the screen in real time, and the cumulative travel distance, plan, current, and calorie consumption may be displayed.

Meanwhile, the gait rehabilitation device 1 for a severely disabled person can move the patient to a predetermined rehabilitation position in a state in which the trunk of the patient is lifted, and it is possible to move the patient from the at least one wearable orientation bearing sensor Based on the location information, the patient's perception of behavior and posture can be reflected in real-time walking rehabilitation training.

In particular, when the user selects an obstacle,

The control device 120 controls the virtual obstacle to appear through the augmented reality method on the three-dimensional spatial image provided by the output device 130,

It is possible to interlock the operation of the trunk movement unit 200 while recognizing the behavior of the patient based on the three-dimensional position information transmitted in real time from at least one wearable orientation sensor worn by the patient.

Here, the obstacle may include an object existing on a gaitway, a manhole, an uneven road surface, an uneven road surface, and the like.

When the patient passes the uneven road surface, the uneven road surface or the like, the foot plate 210 may be provided with an up, down, left, and right vibration effect depending on the road surface condition to increase the haptic effect. The vibration effect at this time can be realized through a plurality of motors provided in the trunk movement part 200.

The control unit 120 controls the trunk movement unit 200 according to the state of the road surface so that the patient can actually walk on the snowy road surface and the ice path. Can be given. For example, the control device 120 can control the trunk movement part 200 to perform a training to feel the slip of the ice path, and at the same time, realize the slipperiness and the feeling of stepping on the snow, .

That is, the gait rehabilitation device 1 for severely disabled person can proceed to training to avoid a virtual obstacle in a three-dimensional spatial image, and can detect a posture of a patient when avoiding a virtual obstacle, By interlocking control, the obstacle avoidance training can be effectively performed while protecting the patient.

The gait rehabilitation device 1 for severely disabled persons may be configured to include a photographing apparatus 110 capable of photographing a motion of a patient as described above.

The photographing apparatus 110 photographs a patient who is undergoing rehabilitation training through the trunk movement unit 200 and photographs the walking posture or the movement of the lower body of the patient and transmits the photograph to the control apparatus 120. The control apparatus 120 receives the object recognition The patient's gait status is analyzed through the method.

The photographing apparatus 110 can photograph both the visible ray region and the infrared ray region and can photograph the walking posture of the patient and the motion of the lower body even in a situation where the user is trained to walk at night. The photographing apparatus 110 can be configured to three-dimensionally detect the movement of the patient using a rider or a radar sensor. The three-dimensional patient movement is stored in the control device 120 and can be visually displayed.

On the other hand, the control device 120 recognizes a dangerous pattern in consideration of the physical limitations of the patient based on the walking posture and the motion data of the lower body transmitted from the photographing apparatus 110 and the wearable posture orientation sensor, If the pattern is reached, the training can be paused.

That is, since the control device 120 stores the physical limit information (ankle angle, hip joint angle, and knee angle) of the patient, the control device 120 controls the walking posture of the patient, Through the movement data, it is possible to control the safe walking training after recognizing the dangerous situation.

Further, when the photographing apparatus 110 is configured to three-dimensionally detect the movement of the patient using a rider or a radar sensor,

The control device 120 controls the patient to proceed with some standard movements through the trunk movement part 200 and three-dimensionally senses the movement of the patient at this time, and then recommends the wearing position of the wearable orientation orientation sensor have.

When the photographing apparatus 110 is configured to three-dimensionally detect movement of a patient using a rider or a radar sensor, the control unit 120 determines whether the selected patient is correct based on the characteristics of the movement of the patient Can be performed.

That is, when the user selects the existing data of the patient through the controller 120 and selects the data of another patient by mistake when proceeding with the training, the photographing apparatus 110 grasps the current patient three- 120), it is possible to improve the stability.

In addition, when the photographing apparatus 110 is configured to include both the visible ray region photographing lens, the infrared region photographing lens, and the radar sensor so as to identify both the image and the three-dimensional image, (S) selected by the patient 120 based on object recognition and the patient's three-dimensional motion characteristics.

Although not shown in the drawing, when the user mounts the knee guide,

The control device 120 is configured to exchange data with a knee guide in a wireless communication manner.

The knee guide is equipped with a knee position sensor that senses the movement of the knee and plays a role in limiting the movement angle of the knee by wearing it on the patient's knee.

The control device 120 interlockingly controls the operation of the trunk movement part 200 considering the movement angle of the knee transmitted from the knee position sensor of the knee guide. That is, the control device 120 can adjust the posture of the pelvis including the hip joint by adjusting the angle of the knee in consideration of the physical limitations of the patient.

The gait rehabilitation device (1) for the severely handicapped uses the legs, the hip joints, the knee joints and the ankle joints naturally, thereby preventing degenerative joint-related diseases and strengthening the muscular strength naturally.

Patients and persons with disabilities are instinctively reluctant to support weight on the side of the painful legs, have panic, and have a sense of lack of sense of kinesthesia, perception, tactile sensation, and pressure sense, Since it is impossible to do so, it is possible to solve the difficult problem of walking without the help of a physical therapist.

In addition, the patients and the handicapped have problems of muscle relaxation, tension, and stiffness, so they do not have the ability to solve the problem through the walking exercise. can do. Depending on the data already entered, you can proceed to a program created with the help of a specialist, and you can adjust and adjust according to the results, and you can adjust yourself according to your physical condition.

Again, in more detail, the structure of the gait rehabilitation device 1 for severely handicapped persons,

4, the walking and rehabilitation apparatus 1 for a severely disabled person comprises a frame 100 formed with upper and lower portions being spaced apart from each other, a foot plate 100 coupled to both sides of the lower portion of the frame 100, (200) formed on a side surface of the frame (100) to allow a patient to walk on the foot plate (210) and perform rehabilitation training, And a control device 120 for controlling the operation of the patient or analyzing the condition of the patient.

A transfer unit 300 coupled to an upper portion of the frame 100 and transferring the transfer plate 310 (see FIG. 14) to the front or rear of the frame 100; A supporting part 400 having a handle for supporting the body by holding it by hand when the patient is walking using the inter-body moving part 200, and a supporting part 400 coupled to the lower part of the conveying plate 310 And a safety guard (500) for wrapping the upper body of the patient so that the patient does not fall over.

The rear surface of the frame 100 is formed with a ramp so that the wheelchair can enter. Therefore, the patient who can not independently walk can enter the inside of the frame 100 through the ramp formed on the rear surface of the frame 100 using the wheelchair .

The upper and lower portions of the frame 100 are spaced apart from each other so that the transfer unit 300 is coupled to the upper portion and the trunk movement unit 200 is coupled to the lower portion of the frame 100. The front and rear surfaces of the frame 100 are opened, There is space available.

The trunk exercise part 200 is a device for rehabilitation training by stepping on the foot plate 210 of FIG. 7 and allowing the patient to walk in place. By moving the foot plate 210 of FIG. 7 by external power, Let them do the training.

The control device 120 controls the operation of the trunk movement part 200 to control the trunk movement part 200 so that the patient can walk in a correct posture or at a speed suited to the condition of the patient, The trunk movement unit 200 may be operated along with the program.

The transfer unit 300 may be coupled to the upper portion of the frame 100 to transfer the transfer plate 310 of FIG. 14 to a designated position on the front surface or the rear surface of the frame 100, The supporting part 400 and the safety guard 500 may be positioned on the upper part of the body moving part 200 or may be moved to the upper part of the patient entering the wheelchair on the rear side of the frame 100. [

The supporting part 400 is formed to be able to hold the patient by the hand and assist the patient to hold the supporting part 400 by hand when the patient is walking using the inter-body moving part 200,

The safety guard 500 is constructed in the form of a vest so that it can be worn on the upper body of the patient and is coupled to the transfer part 300 moving on the upper part of the frame 100. When the patient wears the safety guard 500 suspended in the air Even if a patient is in a standing position and does not have the strength of the lower body, he can rehabilitate without falling.

In addition, a photographing device 110 photographs a patient who is walking on the body 100 through the trunk movement part 200 and photographs the patient's walking state, And an output device 130 for reproducing an image output according to the amount of movement when the patient is walking using the trunk movement part 200.

The photographing apparatus 110 photographs a patient who is rehabilitating through the trunk movement unit 200, and is used as an image data for analyzing the walking state of the patient by photographing the walking posture or the movement of the lower body.

That is, by analyzing the image photographed by the photographing apparatus 110, it is possible to apply the rehabilitation training suitable for the patient by operating the control device 120 so as to calibrate the speed or attitude of the rehabilitation therapist or doctor.

The output device 130 is formed as a display for outputting an image stored in the control device 120, and is positioned on the front surface of the frame 100 to allow a patient to view the image and perform rehabilitation training.

The image output from the output device 130 may be displayed on a display unit such as a park, a street, or the like, so that a human can walk or display a path that the patient normally travels to output a speed at which the image is reproduced according to the speed of the trunk movement unit 200 By making it different, you can get the feeling of walking on the actual street.

Also, the output device 130 may be replaced with a virtual reality head-mounted display. When the patient wears the virtual reality head-mounted display and then rehabilitates the virtual reality head-mounted display, the output device 130 displays a virtual It may cause the patient's interest by allowing the real image to be reproduced and to be able to look around.

7 is a perspective view showing the trunk movement part of the gait restoration device 1 for a severely disabled person.

7, the trunk movement part 200 of the gait rehabilitation device 1 for severely disabled persons comprises a footrest 210 formed to fix a foot of a patient, a footrest 210 formed below the footrest 210, 210 and the first pivoting device 220 in the forward or backward direction, which is formed below the first pivoting device 220. The first pivoting device 220 rotates the first pivoting device 210 in the left or right direction, The other end of which is coupled to the frame 100 to move the second pivoting device 230 in the forward or backward direction. The second pivoting device 230 is connected to the side of the second pivoting device 230, 240).

One side of the footrest 210 of the trunk movement part 200 is inserted into a guide groove 251 formed in a guide plate 250 located on both sides of the frame 100, And the foot plate 210 is moved along the guide groove 251 when the cylinder 240 is operated.

The trunk movement part 200 is located on both sides of the frame 100 and is formed with a foot plate 210 for fixing the foot when the patient is walking, and the first swivel device 220 and the second And the pivoting device 230 are respectively coupled in order.

The piston rod 241 of the cylinder 240 is coupled to one side of the second rotating device 230 and the other side is inserted into the guide groove 251 formed inside the guide plate 250 to rotate the second rotating device 230, It is preferable that the guide groove 251 is not released.

The guide groove 251 is formed in an elliptical shape corresponding to the foot trajectory generated when a person is walking, and the guide plate 250 having the guide groove 251 formed in a shape corresponding to the walking habit of the patient who is walking, It is possible.

The piston rod 241 coupled to one side of the second pivoting device 230 is inserted into the cylinder 240 or protruded to the outside by the operation of the cylinder 240 to push or pull the second pivoting device 230 The two-turn device 230 is moved along the guide groove 251.

At this time, since the end of the cylinder 240 is coupled to the pivot table 242 fixed to the frame 100, the cylinder 240 can be rotated with respect to the pivot table 242, The piston rod 241 is rotated and operated according to the position of the second rotating device 230 moving along the guide groove 251.

The first pivoting device 220 is configured to pivot the footrest 210 to the left or right and the second pivoting device 230 is configured to pivot the footrest 210 forward or backward, When the patient is walking, the ankle can be used to perform an ankle motion similar to a real walk.

8 is an exploded view showing a detailed structure of the trunk movement part of the gait restoration device 1 for a severely disabled person.

8, the first pivoting device 220 of the trunk movement part 200 of the gait-seeking rehabilitation device 1 for a severely disabled person includes a first rotating device 220 having an upper portion formed to be flat, A first rotating shaft 222 coupled to the lower portion of the first rotating plate 221 in the forward and backward directions to rotate the first rotating plate 221 leftward or rightward, And a first rotary motor 223 coupled to an end of the first rotary shaft 222 to rotate the first rotary shaft 222 with power.

The second pivoting device 230 includes a second pivoting plate 231 formed to be coupled with the first pivoting shaft 222 from the front to the rear at an upper portion thereof and a second pivoting plate 231 coupled to the lower portion of the second pivoting plate 231 from one side to the other A second rotary shaft 232 coupled to one end of the second rotary shaft 232 to rotate the second rotary shaft 231 in a forward direction and a rearward direction and capable of rotating separately from the second rotary shaft 232, And a second rotary motor 233 coupled to the other side of the second rotary shaft 232 to rotate the second rotary shaft 232.

The end of the piston rod 241 is coupled to the other side of the second rotary shaft 232. The second rotary motor 233 is coupled to and fixed to the piston rod 241. The second rotary shaft 232 is connected to the piston rod 241 So as to be rotatable by the second rotary motor 233.

The first rotation axis 222 and the second rotation axis 232 are coupled by a key when the first rotation axis 222 and the first rotation axis 221 are coupled with the second rotation axis 232 and the second rotation axis 231, It is preferable that the first rotation plate 221 and the second rotation plate 231 can rotate without slip when rotating.

The bearing 234 coupled to one side of the second rotation shaft 232 is inserted into the guide groove 251 of FIG. 7 and inserted into the guide groove 251 of FIG. 7 so as not to come out of the guide groove 251 of FIG. It is preferable that the outer diameter of the bearing 234 is larger than the outer diameter of the bearing 234.

That is, grooves corresponding to the outer diameter of the bearing 234 are formed inside the guide groove 251 in FIG. 7 so that the section cut to be seen from the upper part to the lower part is made to be "T".

When the piston rod 241 reciprocates and the second rotary shaft 232 is moved along the guide groove 251 of FIG. 7, the bearing 234 is moved independently of the second rotary shaft 232 The frictional force applied to the shaft while rotating can be reduced to allow smooth movement.

Since the first driving motor and the second driving motor are composed of a servo motor or a step motor and can control the position, the amount of rotation when rotating the first rotation shaft 222 and the second rotation shaft 232 can be controlled, 210 can be actively changed in accordance with the walking postures.

9 is a side view showing a movement path through which the trunk movement part 200 of the gait-and-rehabilitation device for severely disabled persons 1 moves.

9, the footrest 210 of the trunk movement part 200 of the gait rehabilitation device for severely handicapped person according to the present invention is guided by a piston rod 241 which is protruded or inserted into the cylinder 240 and reciprocates, And the position is moved along the groove (251).

The foot plate 210 is formed to be moved along the guide groove 251 while being restrained by the guide groove 251 formed in the guide plate 250 and the piston rod 241 of the cylinder 240 reciprocates It is possible to move along the guide groove 251.

Since the guide groove 251 is formed along the foot path generated when the user is walking, when the user uses the body-to-body motion unit 200 to walk, the legs are used as when actually walking the muscles and joints. .

In addition, the guide groove 251 formed in the guide plate 250 may be formed in a path that matches the walking posture of the patient, and then the guide plate 250 may be used in place of the guide groove 251. In the case of using the path conforming to the standard walking posture, It is also possible to correct the walking posture while training.

The end of the cylinder 240 is coupled to the pivot 242 so that the piston 240 can be pivoted in the upward or downward direction with respect to the pivot 242. Therefore, The foot plate 210 can be moved along the guide groove 251 while the height is changed.

The control device 120 of FIG. 4 can control the footrest 210 to maintain a horizontal state when the footrest 210 moves along the guide groove 251 of FIG. 7 according to the state of the patient, It is possible to control so as not to place an ankle on the ankle.

10 is a view showing a state in which the trunk movement part 200 of the walking and rehabilitation device 1 for severely disabled persons is rotating.

As shown in FIG. 10, the footrest 210 of the trunk movement part 200 of the walking and rehabilitation device for severely handicapped person according to the present invention can be pivoted to the left or the right to adjust the footrest 210 according to the patient's walking habits .

The first pivot plate 221 of the first pivoting device 220 coupled to the foot plate 210 can be pivoted to the left or right when the first pivot 222 is rotated by the first driving motor, It can be adjusted according to walking habits.

That is, when the patient has a habit of touching the inner or outer side of the soles first when walking, the ankle is uncomfortable, so that the foot plate 210 is pivoted to the left or right to walk in a tilted state, .

In addition, the foot plate 210 of the body-movement unit 200 is rotated forward or backward according to the position so that the patient can move the ankle when walking on the foot plate 210.

The foot plate 210 and the first rotating device 220 can be rotated in the forward or backward direction through the second rotating device 230 formed at the lower portion of the first rotating device 220, And ankle motion can be performed in an outgoing shape.

The second pivoting device 230 actively changes the amount of rotation of the foot plate 210 in accordance with the position where the foot plate 210 of FIG. 7 is moved along the guide groove 251, (Not shown).

4 also analyzes the pressure generated when the patient is walking through a pressure sensor (not shown) formed on the foot plate 210 to measure the pressure applied to the foot plate 210, The foot plate 210 is rotated so as to be able to maintain the walking posture of the patient.

A plurality of pressure sensors (not shown) are disposed inside the footrest 210, and the distribution of the load applied to the footrest 210 when the patient is walking can be measured through the pressure sensor.

The controller 120 of FIG. 4 controls the first and second rotating devices 220 and 220 so that a load is not concentrated on a specific part by using a load distribution generated when the patient steps on the foot plate 210. Therefore, 230 may be used to rotate the foot plate 210 to receive a uniform load.

In addition, the foot plate 210 can be kept horizontal when the foot plate 210 moves along the guide groove 251 of FIG. 12 according to the patient's condition, thereby controlling the patient's ankle so as not to be burdened.

11 is a view showing a movement path in which the trunk movement part 200 of the gait-and-rehabilitation device for severely disabled persons 1 turns and moves.

11, the control device 120 (see FIG. 4) of the gait rehabilitation device for a severely disabled person according to the present invention determines the speed at which the footrest 210 of the trunk movement part 200 is moved using the set program And the amount of rotation of the footrest 210 can be controlled according to the position.

The foot plate 210 is moved along the guide groove 251 by the reciprocating movement of the piston rod 241 while being restrained by the guide groove 251. The foot plate 210 is moved along the guide groove 251, The control device 120 of FIG. 4 controls so that the same effect as that of the ankle motion occurring when actually walking is obtained.

4 may include a plurality of detection sensors (not shown) disposed in the guide groove 251 to detect the position of the foot plate 210, and a detection sensor (not shown) The controller 120 of FIG. 4 drives the first and second rotating devices 220 and 230 of FIG. 10 so that the footrest 210 is rotated on a segment-by-segment basis, .

Also, the controller 120 of FIG. 4 can control the speed at which the footrest 210 is moved by controlling the speed of the input / output of the fluid applied to the cylinder 240, thereby slowing the walking speed according to the patient's walking state You can quickly adjust it.

Fig. 12 is a view showing another embodiment of the trunk motion part of the gait-and-rehabilitation apparatus 1 for the severely disabled.

12, the trunk movement part 200 of the gait restoring device for severely handicapped person according to another embodiment moves along the path by the movement of the piston rod 241 of the cylinder 240 (see Fig. 11) The piston rod 241 is moved in the direction of the axis of the bearing 234 so that the shaft of the second rotating shaft 232 formed on the second rotating device 230 is not bent or damaged by the load of the piston rod 241. [ And the distance is formed to be close to each other.

7, when the piston rod 241 is separated from the bearing when the piston rod 241 is engaged with the second rotation shaft 232, when the piston rod 241 pushes or pulls the second rotation shaft 232, A moment is generated on the basis of the bearing 234 coupled to the end of the rotation shaft 232 and the second rotation shaft 232 is bent to cause damage.

In order to prevent this, the piston rod 241 must be able to maintain a close distance from the bearing 234, and more preferably, the piston rod 241 and the cylinder 240 of FIG. 7 so as not to interfere with the guide plate 250 of FIG. 7 so that the distance between the guide plate 250 and the bearing 234 is reduced.

A connection hole 236 is formed at the end of the piston rod 241 to fix the second rotation motor 233 as the position of the piston rod 241 is changed. A support shaft 237 coupled to a bearing 234 formed in the guide plate 250 of the first guide plate 250 protrudes from the other side of the guide plate 250. A second hollow shaft The shaft 238 is projected.

A second rotary motor 233 is coupled to the end of the hollow shaft 238 to rotate the second rotary shaft 232. A hollow shaft 238 is provided to reduce frictional force when the second rotary shaft 232 rotates. The support shaft 235 is positioned so as to support the second rotation shaft 232 at both ends thereof.

When the piston rod 241 is advanced or retracted by the cylinder 240 in Fig. 11, the support shaft 237 coupled to one surface of the coupling hole 236 presses the bearing 234, The connection groove 236 can move the second pivoting device 230 coupled to the hollow shaft 238 because the guide groove 251 moves along the path.

The second rotating plate 231 is coupled to the second rotating shaft 232 on the upper surface of the hollow shaft 238 so that the second rotating shaft 230 can rotate the foot plate 210 forward or backward. An insertion groove 239 is formed so that the lower portion can be rotated.

The lower portion of the second rotary plate 231 is inserted into the hollow shaft 238 through the insertion groove 239 and then the second rotary shaft 232 is inserted into the hollow shaft 238, And the second rotary shaft 231 can be rotated forward or backward by the rotational force of the second rotary motor 233. [

At this time, it is possible to control the angle at which the second pivoting plate 231 can be physically rotated according to the depth of the insertion groove 239 drawn inward from the outer surface of the hollow shaft 238, When the pivot plate 231 is rotated more, it is caught in the insertion groove 239, so that it is possible to prevent the ankle of the patient who undergoes the rehabilitation training from being injured.

Fig. 13 is a perspective view showing the transfer unit 300 of the gait-and-rehabilitation apparatus 1 for the severely handicapped.

13, the transfer plate 310 of the transfer unit 300 of the gait rehabilitation apparatus for severely handicapped persons according to the present invention is configured such that the transfer plate 310, And moves the patient wearing the safety protector 500 while being moved to the upper part of the wheelchair or to the upper part of the trunk movement part 200 (see FIG. 1).

The conveying unit 300 includes a conveying unit 320 for moving the conveying plate 310 to the front or back of the frame 100. The conveying unit 320 includes a conveying rail A conveyance block 323 coupled to the conveyance plate 310 while sliding along the conveyance rail 324 and a conveyance block 323 coupled to the lower center of the conveyance plate 310, A ball screw 322 for moving the ball screw 322 by a predetermined distance and a feed motor 321 for applying a rotational force to the ball screw 322. [

Since the support part 400 and the safety protection part 500 are mounted on the lower part of the transfer plate 310, the safety protection part 500 can be worn when the patient enters the wheelchair on the ramp formed on the rear surface of the frame 100 The transfer plate 310 of the transfer unit 300 is moved in the backward direction of the frame 100 while the transfer unit 320 is operated.

When the patient wears the safety guard 500, it is possible to wear the safety guard 500 with the help of a rehabilitation therapist or a physician, and a device for raising and lowering the safety guard 500 is formed so that the patient can stand by himself / .

The patient wearing the safety guard 500 is suspended or standing by the safety guard 500 attached to the conveyance plate 310 and the conveyance plate 310 is moved by the conveyance device 320 to the side of the frame 100 When moving to the front, the patient can also be moved together.

In addition, it is possible to hold the support part 400 located on the front surface of the safety guard 500 by hand so as to prevent the user from swaying while moving.

It is preferable that the feed motor 321 of the feed device 320 is formed of a servo motor so that position control can be performed so that the feed plate 310 can be moved to a designated position on the rear face and front face of the frame 100.

Fig. 14 is a perspective view showing the support portion 400 of the gait-and-rehabilitation apparatus 1 for the severely disabled.

As shown in FIG. 14, the support part 400 of the walking and rehabilitation device for a severely disabled person according to the present invention is connected to both sides of the lower part of the conveyance plate 310 and is connected to a plurality of hollow tubes having different sizes, And a support 430 which is connected to the rear of the lower end of the respective height adjuster 410 so as to pass through the rear end of the height adjuster 410, And a drive unit 420 formed on the transfer plate 310 to adjust the height of the height adjuster 410 using a motor or a cylinder.

Further, the supporting part 400 can adjust the height according to the body size of the patient, or adjust the position to the front or back.

The height adjuster 410 is formed of a hollow tube, and the size of the middle tube is gradually decreased as the distance from the conveying plate 310 increases, so that the hollow tube having a small size can be inserted or protruded into a large- As shown in FIG.

That is, a plurality of hollow tubes having different sizes may be connected in a multi-stage manner to thereby extend or reduce the length, and at the end of the height adjuster 410, the driving unit 420 formed on the conveyer plate 310 is connected.

The end of the height adjuster 410 is raised toward the conveying plate 310 by the operation of the driving unit 420 to be inserted into a hollow tube having a large size or descended toward the trunk moving part 200 of FIG. The length of the stand 410 can be adjusted.

At this time, since the driving unit 420 is composed of a motor or a cylinder, the hollow tube of the height adjuster 410 can be moved. When the motor is used, the wire is connected to the end of the height adjuster 410, Or loosened.

The support tab 430 is formed in a " C "shape so that both ends of the support tab 430 are coupled to the rear surface of the height adjuster 410 located at both sides of the conveyor plate 310, 200), it is possible to hold the supporter 430 on the patient's front side by hand.

The height of the support table 430 can be adjusted by lifting the height adjuster 410 and the support table 430 can be moved in the front or rear direction of the height adjuster 410. Therefore, 430 can be adjusted and used.

15 is a perspective view showing the safety guard 500 of the gait-and-rehabilitation apparatus 1 for severely disabled persons.

As shown in FIG. 15, an elastic body 520 is formed on an upper portion of a safety guard 500 of a gait rehabilitation device for a severely disabled person according to the present invention, thereby relieving an impact generated when a person loses balance during walking and falls The elastic body 520 can be replaced to adjust the tension according to the patient's body.

The safety guard 500 is formed of a protective vest 540 to be wrapped around the upper body of the patient and a wrist strap 530 is formed on both sides of the upper portion of the protective vest 540 to support the armpit And a leg-supporting strap 550 is formed on both sides of the lower portion of the protective vest 540 so that the legs can be inserted to support the groin.

The upper part of the shoulder muscle is formed with a connecting rod 510. The connecting rod 510 is coupled to the lower part of the delivery plate 310 of Fig. 13, and the shock that occurs when the patient wearing the safety guard 500 falls or falls The elastic body 520 is positioned in the middle of the linkage 510 to relieve the elasticity.

The elastic body 520 can be replaced and can be used by adjusting the elastic force according to the weight of the patient, and the length of the elastic body 520 can be changed according to the height of the patient.

An adjustment belt 560 is formed on the front surface of the protective vest 540 so that the vest can be tightly fixed to the upper body and the connection belt 570 is formed on the leg support strap 550, It is preferable that the legs are supported on the straps 550 by connecting the leg-supporting straps 550 to each other.

In the gait rehabilitation apparatus for severely disabled persons including the wearable sensor according to the embodiment of the present invention,

It is possible to move the patient to the predetermined rehabilitation position with the trunk of the patient lifted and to detect the behavior and attitude of the patient on the basis of the three-dimensional position information transmitted in real time from at least one wearable orientation bearing sensor worn by the patient And can be reflected in walking rehabilitation training in real time.

Therefore, it is possible to perform training to avoid a virtual obstacle in a three-dimensional spatial image, and to control the motion of the trunk motion part by sensing the posture of the patient when avoiding a virtual obstacle.

Thus, those skilled in the art will appreciate that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. It is therefore to be understood that the embodiments described above are to be considered in all respects only as illustrative and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

10: Patient automatic transfer section
100: frame 110: photographing apparatus
120: Control device 130: Output device
200: trunk movement part 210: scaffold
220: first rotating device 221: first copper plate
222: first rotating shaft 223: first rotating motor
230: second rotating device 231: second rotating plate
232: second rotation shaft 233: second rotation motor
234: Bearing 235: Support
236: Connector 237: Support shaft
238: hollow shaft 239: insertion groove
240: Cylinder 241: Piston rod
242: pivot table 250: guide plate
251: Guide groove 300:
310: transfer plate 320: transfer device
321: Feed motor 322: Ball screw
323: Transport block 324: Feed rail
400: Support part 410: Height adjuster
420: drive unit 430: support
500: safety shield 510: connecting rod
520: Elastic body 530:
540: Protective vest 550: Leg support strap
560: adjusting belt 570: connecting belt

Claims (5)

A patient automatic transfer unit for transferring the patient to a predetermined rehabilitation position in a state where the patient's trunk is lifted;
A trunk exercise unit configured to be able to perform walking rehabilitation training while the patient is stepping on a foot on the rehabilitation position according to the selected gait pattern;
And a control unit for controlling the operation of the trunk movement unit according to the selected gait pattern, wherein the at least one wearable orientation bearing sensor worn by the patient or the behavior recognition of the patient based on the three-dimensional position information transmitted from the portable terminal held by the patient in real- And a control device for realizing the posture in real time and reflecting it in the gait rehabilitation training; And
And a photographing device for three-dimensionally sensing the movement of the patient using a rider or a radar sensor,
Wherein the control device stores data on gait rehabilitation training of each patient and provides information that each patient can set a training target value with reference to his past gait rehabilitation training data, To review whether the patient selected in the control device is correct based on the characteristics of the patient,
A plurality of pressure sensors are disposed in the foot plate to measure a load distribution applied thereto. In the color graphics of the RED, GREEN, and BLUE states corresponding to each position, And controlling the position of the ankle by rotating the foot plate on the basis of the load distribution so as to receive a uniform load,
Wherein the control device controls the patient so as to move a plurality of standard movements through the trunk movement part, the movement of the patient is three-dimensionally detected through the photographing device, and then the wear position of each wearable orientation sensor Wherein the walking and rehabilitation device for severely handicapped persons is characterized in that it is recommended.
The method according to claim 1,
And an output device for providing a three-dimensional spatial image to the patient using any one of a virtual reality method and an augmented reality method when the patient performs walking rehabilitation training using the trunk motion part, Walking rehabilitation device for the handicapped.
3. The method of claim 2,
The control device includes:
Recognizing the behavior of the patient on the basis of three-dimensional position information transmitted in real time from at least one wearable orientation bearing sensor worn by the patient when a virtual obstacle appears on the three-dimensional spatial image through the augmented reality method, And the movement of the trunk movement part is controlled.
delete The method according to claim 1,
And a knee guide equipped with a knee position sensor for detecting the movement of the knee and restricting a movement angle of the knee by being worn on the knee of the patient,
Wherein the control device controls the operation of the trunk movement part in consideration of the movement angle of the knee transmitted from the knee position detection sensor of the knee guide.

Images